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[ins] ins_int: properly reset vff state on realign and initial ltp fix

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This commit is contained in:
Felix Ruess
2015-03-31 14:45:10 +02:00
parent 2502871d47
commit b7cb5fd39a
2 changed files with 51 additions and 54 deletions
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sw/airborne/subsystems/ins/ins_int.c
+50 -52
View File
@@ -302,74 +302,72 @@ static void baro_cb(uint8_t __attribute__((unused)) sender_id, float pressure)
#if USE_GPS
void ins_int_update_gps(struct GpsState *gps_s)
{
if (gps_s->fix == GPS_FIX_3D) {
if (!ins_int.ltp_initialized) {
ltp_def_from_ecef_i(&ins_int.ltp_def, &gps_s->ecef_pos);
ins_int.ltp_def.lla.alt = gps_s->lla_pos.alt;
ins_int.ltp_def.hmsl = gps_s->hmsl;
ins_int.ltp_initialized = TRUE;
stateSetLocalOrigin_i(&ins_int.ltp_def);
}
if (gps_s->fix != GPS_FIX_3D) {
return;
}
struct NedCoor_i gps_pos_cm_ned;
ned_of_ecef_point_i(&gps_pos_cm_ned, &ins_int.ltp_def, &gps_s->ecef_pos);
if (!ins_int.ltp_initialized) {
ins_reset_local_origin();
}
/* calculate body frame position taking BODY_TO_GPS translation (in cm) into account */
struct NedCoor_i gps_pos_cm_ned;
ned_of_ecef_point_i(&gps_pos_cm_ned, &ins_int.ltp_def, &gps_s->ecef_pos);
/* calculate body frame position taking BODY_TO_GPS translation (in cm) into account */
#ifdef INS_BODY_TO_GPS_X
/* body2gps translation in body frame */
struct Int32Vect3 b2g_b = {
.x = INS_BODY_TO_GPS_X,
.y = INS_BODY_TO_GPS_Y,
.z = INS_BODY_TO_GPS_Z
};
/* rotate offset given in body frame to navigation/ltp frame using current attitude */
struct Int32Quat q_b2n;
memcpy(&q_b2n, stateGetNedToBodyQuat_i(), sizeof(struct Int32Quat));
QUAT_INVERT(q_b2n, q_b2n);
struct Int32Vect3 b2g_n;
int32_quat_vmult(&b2g_n, &q_b2n, &b2g_b);
/* subtract body2gps translation in ltp from gps position */
VECT3_SUB(gps_pos_cm_ned, b2g_n);
/* body2gps translation in body frame */
struct Int32Vect3 b2g_b = {
.x = INS_BODY_TO_GPS_X,
.y = INS_BODY_TO_GPS_Y,
.z = INS_BODY_TO_GPS_Z
};
/* rotate offset given in body frame to navigation/ltp frame using current attitude */
struct Int32Quat q_b2n;
memcpy(&q_b2n, stateGetNedToBodyQuat_i(), sizeof(struct Int32Quat));
QUAT_INVERT(q_b2n, q_b2n);
struct Int32Vect3 b2g_n;
int32_quat_vmult(&b2g_n, &q_b2n, &b2g_b);
/* subtract body2gps translation in ltp from gps position */
VECT3_SUB(gps_pos_cm_ned, b2g_n);
#endif
/// @todo maybe use gps_s->ned_vel directly??
struct NedCoor_i gps_speed_cm_s_ned;
ned_of_ecef_vect_i(&gps_speed_cm_s_ned, &ins_int.ltp_def, &gps_s->ecef_vel);
/// @todo maybe use gps_s->ned_vel directly??
struct NedCoor_i gps_speed_cm_s_ned;
ned_of_ecef_vect_i(&gps_speed_cm_s_ned, &ins_int.ltp_def, &gps_s->ecef_vel);
#if INS_USE_GPS_ALT
vff_update_z_conf((float)gps_pos_cm_ned.z / 100.0, INS_VFF_R_GPS);
vff_update_z_conf((float)gps_pos_cm_ned.z / 100.0, INS_VFF_R_GPS);
#endif
#if USE_HFF
/* horizontal gps transformed to NED in meters as float */
struct FloatVect2 gps_pos_m_ned;
VECT2_ASSIGN(gps_pos_m_ned, gps_pos_cm_ned.x, gps_pos_cm_ned.y);
VECT2_SDIV(gps_pos_m_ned, gps_pos_m_ned, 100.0f);
/* horizontal gps transformed to NED in meters as float */
struct FloatVect2 gps_pos_m_ned;
VECT2_ASSIGN(gps_pos_m_ned, gps_pos_cm_ned.x, gps_pos_cm_ned.y);
VECT2_SDIV(gps_pos_m_ned, gps_pos_m_ned, 100.0f);
struct FloatVect2 gps_speed_m_s_ned;
VECT2_ASSIGN(gps_speed_m_s_ned, gps_speed_cm_s_ned.x, gps_speed_cm_s_ned.y);
VECT2_SDIV(gps_speed_m_s_ned, gps_speed_m_s_ned, 100.);
struct FloatVect2 gps_speed_m_s_ned;
VECT2_ASSIGN(gps_speed_m_s_ned, gps_speed_cm_s_ned.x, gps_speed_cm_s_ned.y);
VECT2_SDIV(gps_speed_m_s_ned, gps_speed_m_s_ned, 100.);
if (ins_int.hf_realign) {
ins_int.hf_realign = FALSE;
const struct FloatVect2 zero = {0.0f, 0.0f};
b2_hff_realign(gps_pos_m_ned, zero);
}
// run horizontal filter
b2_hff_update_gps(&gps_pos_m_ned, &gps_speed_m_s_ned);
// convert and copy result to ins_int
ins_update_from_hff();
if (ins_int.hf_realign) {
ins_int.hf_realign = FALSE;
const struct FloatVect2 zero = {0.0f, 0.0f};
b2_hff_realign(gps_pos_m_ned, zero);
}
// run horizontal filter
b2_hff_update_gps(&gps_pos_m_ned, &gps_speed_m_s_ned);
// convert and copy result to ins_int
ins_update_from_hff();
#else /* hff not used */
/* simply copy horizontal pos/speed from gps */
INT32_VECT2_SCALE_2(ins_int.ltp_pos, gps_pos_cm_ned,
INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
INT32_VECT2_SCALE_2(ins_int.ltp_speed, gps_speed_cm_s_ned,
INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
/* simply copy horizontal pos/speed from gps */
INT32_VECT2_SCALE_2(ins_int.ltp_pos, gps_pos_cm_ned,
INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
INT32_VECT2_SCALE_2(ins_int.ltp_speed, gps_speed_cm_s_ned,
INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
#endif /* USE_HFF */
ins_ned_to_state();
}
ins_ned_to_state();
}
#else
void ins_int_update_gps(struct GpsState *gps_s __attribute__((unused))) {}
sw/airborne/subsystems/ins/vf_float.c
+1 -2
View File
@@ -254,6 +254,5 @@ void vff_update_vz_conf(float vz_meas, float conf)
void vff_realign(float z_meas)
{
vff.z = z_meas;
vff.zdot = 0;
vff_init(z_meas, 0., 0.);
}